Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments
作者： Anthony A. Maciejewski , Charles A. Klein
DOI: 10.1177/027836498500400308
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摘要: … of pseudoinverse formulations is that they are valid independently of the rank of the matrix. If a … Given an m X n matrix C and an n X n idempotent and hermitian matrix B, to show that …
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